hello,
So I am pretty new to the Kuka world: I have come from a Fanuc and ABB background. We don't have an integration manual for our KUKA, but I did find a programmer manual for system software 8.3 (we have 8.2xx).
I am still stumbling my way through things, as I have only touched the robot a couple times sporadically.
I recently added an intermediate position in one of the routines. When I added it, I needed to modify the speed, which I did changing Vel=x.xx m/s. Running the robot however, I am definitely not achieving the speeds. Is there something I am missing?
I have attached both lines of code (the original position is the bottom, the new is the top. I am trying to speed up the bottom speed below.
Also, the manual I have isn't clear, but could someone help explain the elements here? I understand most I believe (example LIN = Linear, STAGE_7 = point name, Vel=0.25 m/s = Velocity .25 meters/sec, CPDAT5 =???, Tool[1]= tool frame 1. The rest I am unsure of however. and the CPDAT (I am thinking motion interpolation (CNT like in a fanuc)?
Any help is appreciated.
;FOLD LIN STAGE_7 Vel=0.25 m/s CPDAT5 Tool[1]:SAS Vacuum Base[0];%{PE}%R 8.2.20,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:STAGE_7, 3:, 5:0.25, 7:CPDAT5
$BWDSTART=FALSE
LDAT_ACT=LCPDAT0
FDAT_ACT=FSTAGE_7
BAS(#CP_PARAMS,0.25)
LIN XSTAGE_7
;ENDFOLD
;FOLD LIN STAGE_6 Vel=1.50 m/s CPDAT10 Tool[1]:SAS Vacuum Base[0];%{PE}%R 8.2.20,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:STAGE_6, 3:, 5:1.50, 7:CPDAT10
$BWDSTART=FALSE
LDAT_ACT=LCPDAT5
FDAT_ACT=FSTAGE_6
BAS(#CP_PARAMS,0.25)
LIN XSTAGE_6
;ENDFOLD